基于差分进化算法的三维电场传感器解耦标定方法

空间电场信息的准确感知在电力系统传感和量测技术中具有重要价值,但目前并没有可靠的空间直流电场测量装置,对空间三维电场传感器的标定方法需要进一步研究。该文在三维可调外界电场下构建了同时含有维间耦合和角度偏差的校准模型,提出了在该模型下基于差分进化算法求解灵敏度系数矩阵的方法。通过对比研究发现该方法较为精确、稳定和快速,在多组仿真实验中误差率均小于3%(不考虑测量误差)。此外,对传感器空间角度对算法准确度的影响进行了分析。基于差分进化算法的三维电场传感器解耦标定方法,既可以简化标定装置设计的复杂度和难度,也可为其他类型的三维传感器标定提供参考。

Fitting V F Converter*ss Output Using High Order Neural Networks

A new method is presented in this paper for fitting VFC*ss (voltage to frequency converter) output functions by using high order neural networks. The nonlinear estimation is implemented when the VFC110 is used at a full scale output frequency of 4 MHz. Two kinds of on line dynamic calibrating circuits are designed to improve the sampling precision. This method can also be applied to different industrial applications.

Flexible Calibration Method for 3D Laser Scanner System

In this paper, a flexible high-precision calibration method suitable for industrial field was proposed. The complexity of the coordinate transformation was simplified by choosing the camera coordinate system as the unified reference coordinate system. A flexible planar calibration pattern was introduced to the calibration process, which can be arbitrarily placed and from which the known feature points can be extracted to construct other unknown feature points. With the known intrinsic parameters, the laser projector plane equation was fitted by the multi-noncollinear points, which were acquired through the principle of triangulation and the projective invariance of cross ratio. With this method, the strict alignment and multiple times of coordinate transformation can be avoided. Experimental results showed that the arithmetic mean of the root mean square(RMS) error of distance was 0.000 7 mm.

Study of Stability of Saturated Salt Solutions Cells

This paper study stability of saturated salt solutions cells at 25 ℃. These cells were prepared and measured at National Institute for Standard （NIS-Egypt） to study the stability of the saturated salt solutions. The study was carried out using three saturated salt solutions, which are Potassium Acetate 22.5%, Potassium Iodide 68.9% and Potassium Sulphate 97.3% to cover low, medium and high relative humidity. The study was carried out using different shapes and volumes half liter spherical, liter spherical and liter conical per each salt which was prepared. The apparatus which used in measurement system in the first time are the same which used after ten years. The results show that the change of relative humidity value after ten years ranged from 0.1% to 0.7%. This value is suitable within uncertainty ＋ 2%. The period of stability for each run for all cells was found to be more than five hours and this period enough for calibration. The measurements show that the cells are stable for more than ten years with accepted value.

Design of Calibration Experiments for Identification of Manipulator Elastostatic Parameters

The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.

Enhancing pose accuracy of space robot by improved differential evolution

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.

A long-term in situ calibration system for chemistry analysis of seawater

An in situ calibration system is a versatile exploration instrument for electrochemical sensors investigating the biochemical properties of the marine environment. The purpose of this paper is to describe the design of an auto-calibrating system for electrochemical (pH) sensors, which permits two-point in situ calibration, suitable for long-term measurement in deep sea aqueous environments. Holding multiple sensors, the instrument is designed to perform long-term measurements and in situ calibrations at abyssal depth (up to 4000 m). The instrument is composed of a compact fluid control system which is pressure-equilibrated and designed for deep-sea operation. In situ calibration capability plays a key role in the quality and reproducibility of the data. This paper focuses on methods for extending the lifetime of the instrument, considering the fluidics design, mechanical design, and low-power consumption of the electronics controller. The instrument can last 46 d under normal operating conditions, fulfilling the need for long-term operation. Data concerning pH measured during the KNOX18RR cruise (Mid-Atlantic Ridge, July-August, 2008) illustrate the desirable properties of the instrument. Combined with different electrodes (pH, H2, H2S, etc.), it should be of great utility for the study of deep ocean environments, including water column and diffuse-flow hydrothermal fluids.